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ROBOTIS-GIT / turtlebot3

ROS packages for Turtlebot3
http://turtlebot3.robotis.com
Apache License 2.0
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vel_cmd for turtlebot3 in ROS2 #983

Open mwsatman opened 1 year ago

mwsatman commented 1 year ago

ISSUE TEMPLATE ver. 0.4.0

  1. Which TurtleBot3 platform do you use?

    • [x] Burger
    • [ ] Waffle
    • [ ] Waffle Pi

  2. Which ROS is working with TurtleBot3?

    • [ ] ROS 1 Kinetic Kame
    • [ ] ROS 1 Melodic Morenia
    • [ ] ROS 1 Noetic Ninjemys
    • [ ] ROS 2 Dashing Diademata
    • [ ] ROS 2 Eloquent Elusor
    • [ ] ROS 2 Foxy Fitzroy
    • [x] ROS 2 Humble

  3. Which SBC(Single Board Computer) is working on TurtleBot3?

    • [ ] Intel Joule 570x
    • [x] Raspberry Pi 3B+
    • [ ] Raspberry Pi 4
    • [ ] etc (Please specify your SBC here)

  4. Which OS you installed on SBC?

    • [x] Raspbian distributed by ROBOTIS
    • [ ] Ubuntu MATE (16.04/18.04/20.04)
    • [ ] Ubuntu preinstalled server (18.04/20.04)
    • [ ] etc (Please specify your OS here)

  5. Which OS you installed on Remote PC?

    • [ ] Ubuntu 16.04 LTS (Xenial Xerus)
    • [ ] Ubuntu 18.04 LTS (Bionic Beaver)
    • [ ] Ubuntu 20.04 LTS (Focal Fossa)
    • [ ] Windows 10
    • [ ] MAC OS X (Specify version)
    • [x] Ubuntu 22.04 LTS Jammy

  6. Specify the software and firmware version(Can be found from Bringup messages)

    • Software version: [x.x.x]
    • Firmware version: [x.x.x] I am away from the system at the moment, but I can provide it later if needed.

  7. Specify the commands or instructions to reproduce the issue.

    • HERE

  8. Copy and Paste the error messages on terminal.

    • HERE

  9. Please describe the issue in detail.

Hi,

I am using Turtlebot3 Burger for my research project. In the past I have been using the ROS1 Noetic and just recently upgraded my setup to ROS2. For my research I control the robot by creating a controller node and periodically sending vel_cmd every 20ms.

In ROS1 Noetic, if the controller is slow and can not fulfill the 20ms window, the robot typically do a move-stop-move motion. In which I assume when there is no vel_cmd being published the default behavior of the robot is to stop. However, after upgrading to ROS2, the robot seems to maintain the previous vel_cmd when no new vel_cmd is published. For my use-case the ROS1 behavior is preferable.

Is there any way to revert the original behavior in ROS1? If it is, what do I need to do to change it?

GyuH13 commented 3 weeks ago

Hi @mwsatman You can modify opencr source code to operate turtlebot as you want. Below link is opencr source which you should modify

https://github.com/ROBOTIS-GIT/OpenCR/blob/master/arduino/opencr_arduino/opencr/libraries/turtlebot3_ros2/src/turtlebot3/turtlebot3.cpp https://github.com/ROBOTIS-GIT/OpenCR/blob/master/arduino/opencr_arduino/opencr/libraries/turtlebot3_ros2/src/turtlebot3/turtlebot3_controller.cpp

I wish you achieve your purpose.